Control system, method and computer program for a milking machine

ABSTRACT

An automatic milking machine controlled by a control unit that, in response to a control request from a first remote user terminal that indicates an intention to initiate transmission of control commands and/or parameter settings, checks whether at least one control command and/or parameter setting from a second remote user terminal has been received within a particular interval preceding a point in time when the control request was received, and if so, returns status data to the first remote user terminal that indicate an identity of the second remote user terminal so that, based thereon, an operator of the first remote user terminal can decide whether or not to remote control the milking machine at the present point in time.

TECHNICAL FIELD

The present invention relates generally to control of milking machines.More particularly the invention relates to a control system according tothe preamble of claim 1 and a corresponding method. The invention alsorelates to a computer program and a non-volatile data carrier.

BACKGROUND

Today, there are milk extraction systems with remote-control interfaces.This enhances the overall efficiency and provides the farmer with aflexible means of interaction with various pieces of milking equipment.

WO 2005/000009 describes one example of a method and a system for remotesupervision of an automatic milking system by use of a computer means.Web-documents are here obtained from the computer means whichweb-documents contain information about a milking station and/oranimals. A connection is established between the automatic milkingsystem and a communication unit. Web documents are then created andtransmitted to the communication unit.

Such remote-control operation of an automatic milking machine and itsauxiliary components may be highly beneficial. However, since the remotecontrol enables many users independent access to the milking machine,conflict situations may arise as to who controls the milking machine ata given point in time. This may jeopardize the milk quality. It may alsoendanger the animal well-being.

SUMMARY

The object of the present invention is therefore to mitigate the aboveproblems and offer a more predictable and reliable system forcontrolling an automatic milking machine.

According to one aspect of the invention, the object is achieved by theinitially described system, wherein the control unit is configured toreceive a control request from a first remote user terminal via thecommunication interface. The control request indicates an intention toinitiate transmission of control commands and/or parameter settings fromthe first remote user terminal for controlling the automatic milkingmachine. In response to the control request, the control unit isconfigured to check if at least one control command and/or parametersetting from a second remote user terminal has been received in thecommunication interface within a particular interval preceding a pointin time when the control request was received. If so, the control unitis configured to send status data to the first remote user terminal viathe communication interface. The status data indicate an identity of thesecond remote user terminal.

The above-mentioned control request may be represented by a firstcontrol command (or set of such commands) per se, from the first remoteuser terminal. Alternatively, the control request may be a setup command(e.g. a connection from a client software in the first remote userterminal to a server software in the control unit).

The proposed control system is advantageous because it notifies a newremote-control operator about the existence of any previousremote-control operator before the new remote-control operator starts tocontrol the automatic milking machine. Hence, the new remote-controloperator may actively choose to either interfere with an ongoing remotecontrol session, or wait until a later point in time.

According to one embodiment of this aspect of the invention, the statusdata further indicate at least one action performed by the automaticmilking machine in response to said at least one control command and/orparameter setting from the second remote user terminal. Consequently,the new remote-control operator also becomes informed about whichworking phase that might be influenced by any control commands and/orparameter settings issued by the first remote user terminal.

Preferably, the status data are generated if and only if the at leastone control command and/or parameter setting from the second remote userterminal has been received in the communication interface within theparticular interval. In other words, if the separation in time betweenthe control commands and/or parameter settings issued by the first andsecond remote user terminals respectively is longer than the particularinterval, the first remote user terminal will not be notified even ifthe actions resulting from the second remote user terminal's controlcommands and/or parameter settings have not yet been completed.

According to another embodiment of this aspect of the invention, if: (a)no control command or parameter setting has been received in thecommunication interface from any other remote user terminal within theparticular interval, and (b) no action is currently being performed bythe automatic milking machine in response to any control commands orparameter settings from any other remote user terminal, the control unitis likewise configured to send status data to the first remote userterminal via the communication interface. Here, the status data indicatethat the automatic milking machine is ready to receive control commandsand/or parameter settings in a conflict-free manner. Thereby, the newremote-control operator can make sure that he/she does not disturb anyongoing remote control of the automatic milking machine.

According to yet another embodiment of this aspect of the invention, thecontrol unit is configured to, after having received the control requestfrom the first remote user terminal: (i) check if at least one controlcommand and/or parameter setting is received from the first remote userterminal; and if so (ii) control the automatic milking machine tooperate in response to the at least one control command and/or parametersetting from the first remote user terminal. Hence, an operator of thefirst remote user terminal can effect various actions in the automaticmilking machine.

According to a further embodiment of this aspect of the invention, thecontrol unit is configured to handle the at least one control commandand/or parameter setting from the first remote user terminal withprecedence over any previously received control commands and/orparameter settings. This means that any yet uncompleted action that isbeing performed by the automatic milking machine in response to thepreviously received control commands and/or parameter settings isaborted in response to receiving the at least one control command and/orparameter setting. Instead, the control unit controls the automaticmilking machine to operate in response to the at least one controlcommand and/or parameter setting from the first remote user terminal. Inother words, a later remote control session can always override anearlier initiated remote control session.

According to another embodiment of this aspect of the invention, thelocal user interface includes at least one of a visual indicator and/oran acoustic indicator. Further, the control unit is configured to causethe at least one visual/acoustic indicator to reflect whether theautomatic milking machine is set to operate based on operator-generatedinstructions received via the a local user interface, or in accordancewith control commands and/or parameter settings received via thecommunication interface. Thereby, any operator located near theautomatic milking machine can be readily informed about any remotecontrol in progress. Naturally, this is advantageous from a safetypoint-of-view.

According to another aspect of the invention, the object is achieved bya method of controlling an automatic milking machine. The method isimplemented in a control unit associated with the automatic milkingmachine, and the method involves causing the automatic milking machineto operate in accordance with control commands and/or parametersettings, and receiving the control commands and/or parameter settingsfrom a local user interface fixedly arranged at the automatic milkingmachine, or from a remote user terminal in communicative connection withthe control unit through a network and a communication interface. Themethod further involves receiving a control request from a first remoteuser terminal via the communication interface. The control requestindicates an intention to initiate transmission of control commandsand/or parameter settings from the first remote user terminal forcontrolling the automatic milking machine. In response to the controlrequest, the method involves checking if at least one control commandand/or parameter setting from a second remote user terminal has beenreceived in the communication interface within a particular intervalpreceding a point in time when the control request was received. If so,the method further involves sending status data to the first remote userterminal via the communication interface. The status data indicate anidentity of the second remote user terminal. The advantages of thismethod, as well as the preferred embodiments thereof, are apparent fromthe discussion above with reference to the proposed control system.

According to a further aspect of the invention the object is achieved bya computer program loadable into a non-volatile data carriercommunicatively connected to a processing unit. The computer programincludes software for executing the above method when the program is runon the processing unit.

According to another aspect of the invention the object is achieved by anon-volatile data carrier containing the above computer program.

Further advantages, beneficial features and applications of the presentinvention will be apparent from the following description and thedependent claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is now to be explained more closely by means of preferredembodiments, which are disclosed as examples, and with reference to theattached drawings.

FIG. 1 shows a system according to one embodiment of the invention;

FIG. 2 presents a diagram exemplifying how control commands and/orparameter settings are handled according to one embodiment of theinvention; and

FIG. 3 illustrates, by means of a flow diagram, a method according toone embodiment of the invention for controlling a milking machine.

DETAILED DESCRIPTION

FIG. 1 shows an example of a system 100 according to one embodiment ofthe invention. Here, a control unit 120 is configured to control anautomatic milking machine 110 to operate in a certain manner via acontrol signal Ctrl. The control signal Ctrl, in turn, is generated inaccordance with control commands and/or parameter settings CMD that arereceived in the control unit 120 either via a local user interface 130or through a communication interface 140.

The local user interface 130 is fixedly arranged at the automaticmilking machine 110 and is configured to receive operator-generatedinstructions, and in response thereto produce the control commandsand/or parameter settings CMD to the control unit 120. The communicationinterface 140 is configured to receive the control commands and/orparameter settings CMD from a remote terminal, which for example may berepresented by a wireless user terminal 161, e.g. in the form of asmartphone, a phablet or a tablet computer; a portable computer 162,e.g. in the form of a laptop or any other kind of computer 163. Theremote terminals 161, 162 and/or 163 are communicatively connected tothe communication interface 140 via at least one network 150. Dependingon the type of connection used, the at least one network 150 may alsoinclude one or more wireless access networks. In other words, if theremote terminal has a wireless interface to the communication interface140, the at least one network 150 includes a wireless access networkadapted to said wireless interface.

The control unit 120 is also configured to receive control requests CRfrom the remote terminals 161, 162 and/or 163 via the communicationinterface 140. The control requests CR are issued prior to the controlcommands and/or parameter settings CMD and the control requests CRindicate an intention to initiate transmission of control commandsand/or parameter settings CMD from a particular remote user terminal forcontrolling the automatic milking machine 110. Here, let us assume thata first remote terminal 161 has sent a control request CR1 to thecontrol unit 120 via the at least one network 150 and the communicationinterface 140.

Referring now also to FIG. 2, we see a diagram exemplifying how controlcommands and/or parameter settings are handled according to oneembodiment of the invention.

In response to the control request CR1, the control unit 120 isconfigured to check if at least one control command and/or parametersetting CMD2 from another remote user terminal, say 162, has beenreceived in the communication interface 140 within a particular intervalP preceding a point in time t₃ when the control request CR1 wasreceived.

In the example of FIG. 2, the at least one control command and/orparameter setting CMD2 from the remote user terminal 162 was firstreceived in the communication interface 140 at a point in time t₁; andat a later point in time t₂, the reception thereof was completed.Subsequently, the control unit 120 controls the automatic milkingmachine 110 to perform at least one action A2 in response to said atleast one control command and/or parameter setting CMD2 from the remoteuser terminal 162. Here, we assume that the at least one action A2 iscompleted before the point in time t₃; however the difference in timebetween ti and t₃ is less than the particular interval P. Therefore, thecontrol unit 120 sends status data SD2 to the first remote user terminal161 via the communication interface 140 at a point in time t₄. Thestatus data SD2 indicate an identity ID of the remote user terminal 162.Consequently, the operator with the first remote user terminal 161becomes informed about the fact that the remote user terminal 162 hassent at least one control command and/or parameter setting CMD2relatively recently. Hence, it cannot be excluded that the at least oneresulting action A2 has not yet been completed.

Preferably, the control unit 120 is configured to generate the statusdata SD2 if and only if the at least one control command and/orparameter setting CMD2 from the second remote user terminal 162 has beenreceived in the communication interface 140 within the particularinterval P. I.e. if the difference in time between t₁ and t₃ exceeds theparticular interval P, no status data SD2 will be generated by thecontrol unit 120.

According to one embodiment of the invention, the status data SD2further indicate the at least one action A2 performed by the automaticmilking machine 110 in response to the at least one control commandand/or parameter setting CMD2 from the remote user terminal 162. Thismay be useful, since the type of action being performed is relevantinformation when determining whether or not it is appropriate to abortthe action prematurely. For example, if needed, a milking action can beterminated at an earlier point in time than originally planned withoutsevere implications. However, a cleaning action should preferably beentirely completed. Otherwise, cleaning fluids that must be rinsed outnot to contaminate the milk may unintentionally remain in the conduitsof the automatic milking machine 110.

Moreover, after having received the control request CR1 from the firstremote user terminal 161, the control unit 120 is preferably configuredto check if at least one control command and/or parameter setting CMD1is received from the first remote user terminal 161. If so, the controlunit 120 is configured to control Ctrl the automatic milking machine 110to operate in response to the at least one control command and/orparameter setting CMD1 from the first remote user terminal 161.

In the present example, we assume that the operator with the first theremote terminal 161 decides to send control commands and/or parametersettings CMD1 at a point in time t₅ shortly after t₄. As a result, atyet a somewhat later point in time t₆, at least one action A1 isperformed by the automatic milking machine 110 in response to the atleast one control command and/or parameter setting CMD1 from the firstremote user terminal 161. The at least one action A1 is completed at yetlater a point in time t₇.

According to one embodiment of the invention, the control unit 120 isconfigured to handle the at least one control command and/or parametersetting CMD1 from the first remote user terminal 161 with precedenceover any previously received control commands and/or parameter settingsCMD2. This means that irrespective of whether or not an action A2′ beingperformed by the automatic milking machine 110 in response to thepreviously received control commands and/or parameter settings CMD2 hasbeen completed, the control unit 120 will control the milking machine110 to instead start performing actions in response to the at least onecontrol command and/or parameter setting CMD1 from the first remote userterminal 161. In other words, any yet uncompleted action A2′ beingperformed by the automatic milking machine 110 in response to thepreviously received control commands and/or parameter settings CMD2 isaborted in response to receiving the at least one control command and/orparameter setting CMD1.

If no control command or parameter setting CMD has been received in thecommunication interface 140 from any other remote user terminal withinthe particular interval P, and no action is currently being performed bythe automatic milking machine 110 in response to any prior controlcommands or parameter settings CMD from any other remote user terminal,the control unit 120 is preferably configured to send status data SD tothe first remote user terminal 161 via the communication interface 140.Here, the status data SD indicate that the automatic milking machine 110is ready to receive control commands and/or parameter settings CMD1 in aconflict-free manner. Consequently, an operator with the first remoteuser terminal 161 is assured that the automatic milking machine 110 canbe remote controlled without interfering with other users' remotecontrol instructions.

To enable the remote control of the automatic milking machine 110 fromthe remote terminals 161, 162 and 163, a dedicated software, e.g. in theform of a software/app, may be installed in the remote terminals 161,162 and 163 respectively.

Of course, according to the invention, the local user interface 130 maybe implemented in many different ways. A touchscreen GUI (graphical userinterface) is one example, and a button box is another example. Adisplay with associated keys or buttons is yet another example of howthe local user interface 130 can be implemented.

Preferably, the local user interface 130 contains at least one visualindicator 131 and/or 133 respectively. The control unit 120 is hereconfigured to cause the at least one visual indicator 131 and/or 133 toreflect whether the automatic milking machine 110 is set to operatebased on operator-generated instructions received via the a local userinterface 130, or in accordance with control commands and/or parametersettings CMD received via the communication interface 140. This mayinvolve causing the at least one visual indicator 131 and/or 133 toflash in a first pattern if the automatic milking machine 110 set tooperate based on operator-generated instructions received via the alocal user interface 130 (e.g. be lit up during a relatively shortinterval, and then be dark during a relatively long interval, and soon), and flash in a second pattern if the automatic milking machine 110set to operate in accordance with control commands and/or parametersettings CMD received via the communication interface 140 (e.g. be litup during a relatively long interval, and then be dark during arelatively short interval, and so on).

Naturally, in addition to, or as an alternative thereto, one or morefurther visual indicators may be included in the local user interface130 to reflect additional and/or alternative operation modes.

In further addition thereto and/or as yet an alternative, the local userinterface 130 may include an acoustic indicator 135 (e.g. a beeper,buzzer or a loudspeaker) to reflect additional operation modes for themilking machine 110 and/or to indicate the control source in analternative way.

Naturally, at least one input member of the local user interface 130 maycontain at least one of the at least one visual indicator 131 and/or133, for example in the form of a light source integrated into a buttonor key on a control panel.

It is generally advantageous if the control unit 120 is configured toeffect the above-described procedure in an automatic manner, forinstance by executing a computer program 125. Therefore, the controlunit 120 may be communicatively connected to a memory unit, i.e.non-volatile data carrier 123, storing the computer program 125, which,in turn, contains software for making at least one processor in thecontrol unit 120 execute the above-described actions when the computerprogram 125 is run in the control unit 120.

In order to sum up, and with reference to the flow diagram in FIG. 3, wewill now describe the method according to one embodiment of theinvention for controlling the automatic milking machine 110 remotely viathe control unit 120.

In a first step 310, it is checked if a control request has beenreceived. The control request indicates an intention to initiatetransmission of control commands and/or parameter settings from aparticular remote user terminal for controlling the automatic milkingmachine. If no control request has been received, the procedure loopsback and stays in step 310. Otherwise, i.e. if a control request hasbeen received, e.g. from a first remote user terminal, a step 320follows.

In step 320, it is checked if particular interval has expired since anyprevious control commands and/or parameter settings were received; or inother words, if at least one control command and/or parameter settingfrom another remote user terminal has been received in the communicationinterface within the particular interval preceding a point in time whenthe control request in step 310 was received. If the question in step320 is answered in the positive, a step 340 follows; otherwise, theprocedure continues to a step 330.

In step 330, status data are sent to the first remote user terminal viathe communication interface, which status data indicate an identity ofsaid other remote user terminal, i.e. the one from which the previouslyreceived control commands and/or parameter settings originate.

In step 340, it is checked if at least one control command and/orparameter setting has been received from the first remote user terminal;and if so a, step 350 follows. Otherwise, the procedure loops back andstays in step 340.

In step 350, the automatic milking machine is controlled to operate inresponse to the at least one control command and/or parameter settingfrom the first remote user terminal. Thereafter, the procedure loopsback to step 310.

All of the process steps, as well as any sub-sequence of steps,described with reference to FIG. 3 may be controlled by means of aprogrammed processor. Moreover, although the embodiments of theinvention described above with reference to the drawings compriseprocessor and processes performed in at least one processor, theinvention thus also extends to computer programs, particularly computerprograms on or in a carrier, adapted for putting the invention intopractice. The program may be in the form of source code, object code, acode intermediate source and object code such as in partially compiledform, or in any other form suitable for use in the implementation of theprocess according to the invention. The program may either be a part ofan operating system, or be a separate application. The carrier may beany entity or device capable of carrying the program. For example, thecarrier may comprise a storage medium, such as a Flash memory, a ROM(Read Only Memory), for example a DVD (Digital Video/Versatile Disk), aCD (Compact Disc) or a semiconductor ROM, an EPROM (ErasableProgrammable Read-Only Memory), an EEPROM (Electrically ErasableProgrammable Read-Only Memory), or a magnetic recording medium, forexample a floppy disc or hard disc. Further, the carrier may be atransmissible carrier such as an electrical or optical signal which maybe conveyed via electrical or optical cable or by radio or by othermeans. When the program is embodied in a signal which may be conveyeddirectly by a cable or other device or means, the carrier may beconstituted by such cable or device or means. Alternatively, the carriermay be an integrated circuit in which the program is embedded, theintegrated circuit being adapted for performing, or for use in theperformance of, the relevant processes.

The term “comprises/comprising” when used in this specification is takento specify the presence of stated features, integers, steps orcomponents. However, the term does not preclude the presence or additionof one or more additional features, integers, steps or components orgroups thereof.

The invention is not restricted to the described embodiments in thefigures, but may be varied freely within the scope of the claims.

1. A system (100) for controlling an automatic milking machine (110),the system (100) comprising: a control unit (120) configured to causethe automatic milking machine (110) to operate in accordance withcontrol commands and/or parameter settings (CMD); a local user interface(130) configured to receive operator-generated instructions, and inresponse thereto produce and transmit control commands and/or parametersettings (CMD) to the control unit (120), the local user interface (130)being fixedly arranged at the automatic milking machine (110); and acommunication interface (140) configured to, via a network (150),receive control commands and/or parameter settings (CMD) produced by aremote user terminal (161, 162, 163), wherein the control unit (120) isfurther configured to: receive, via the communication interface (140), acontrol request (CR1) from a first remote user terminal (161), thecontrol request (CR1) indicating an intention to initiate transmissionof control commands and/or parameter settings (CMD1) from the firstremote user terminal (161) for controlling the automatic milking machine(110), and in response to a reception of the control request (CR1),check if at least one control command and/or parameter setting (CMD2)from a second remote user terminal (162) has been received in thecommunication interface (140) within a particular interval (P) precedinga point in time (t₃) when the control request (CR1) was received, and ifso, send, via the communication interface (140), status data (SD2) tothe first remote user terminal (161), where said status data (SD2)indicate an identity (ID) of the second remote user terminal (162). 2.The system (100) according to claim 1, wherein the status data (SD2)further indicate at least one action (A2) performed by the automaticmilking machine (110) in response to said at least one control commandand/or parameter setting (CMD2) from the second remote user terminal(162).
 3. The system (100) according to claim 1, wherein the controlunit (120) is configured to generate said status data (SD2) if and onlyif the at least one control command and/or parameter setting (CMD2) fromthe second remote user terminal (162) has been received in thecommunication interface (140) within the particular interval (P).
 4. Thesystem (100) according to claim 1, wherein the control unit (120) isfurther configured such that if: no control command or parameter setting(CMD) has been received in the communication interface (140) from anyother remote user terminal (162, 163) within the particular interval(P), and no action is currently being performed by the automatic milkingmachine (110) in response to any control commands or parameter settings(CMD) from any other remote user terminal (162, 163), the control unit(120) sends, via the communication interface (140), readiness statusdata (SD) to the first remote user terminal (161), where the readinessstatus data (SD) indicate that the automatic milking machine (110) isready to receive control commands and/or parameter settings (CMD1) in aconflict-free manner.
 5. The system (100) according to claim 1, whereinthe control unit (120) is further configured to, after having receivedthe control request (CR1) from the first remote user terminal (161),check if at least one control command and/or parameter setting (CMD1) isreceived from the first remote user terminal (161), and if so, control(Ctrl) the automatic milking machine (110) to operate in response to theat least one control command and/or parameter setting (CMD1) from thefirst remote user terminal (161).
 6. The system (100) according to claim1, wherein the control unit (120) is further configured to handle the atleast one control command and/or parameter setting (CMD1) from the firstremote user terminal (161) with precedence over any previously receivedcontrol commands and/or parameter settings (CMD2) such that: any yetuncompleted action (A2′) being performed by the automatic milkingmachine (110) in response to the previously received control commandsand/or parameter settings (CMD2) is aborted in response to receiving theat least one control command and/or parameter setting (CMD1), and thecontrol unit (120) controls (Ctrl) the automatic milking machine (110)to instead operate in response to the at least one control commandand/or parameter setting (CMD) from the first remote user terminal(161).
 7. The system (100) according to claim 1, wherein the local userinterface (130) comprises at least one of a visual indicator (131; 133)and an acoustic indicator (135), and wherein the control unit (120) isfurther configured to cause the at least one visual/acoustic indicator(131; 133, 137) to reflect whether the automatic milking machine (110)is set to operate based on operator-generated instructions received viathe a local user interface (130), or in accordance with control commandsand/or parameter settings (CMD) received via the communication interface(140).
 8. A method of controlling (Ctrl) an automatic milking machine(110) implemented in a control unit (120) associated with the automaticmilking machine (110), configured to operate in accordance with controlcommands and/or parameter settings (CMD), the method comprising:receiving the control commands and/or parameter settings (CMD) fromeither of a local user interface (130) fixedly arranged at the automaticmilking machine (110) or a remote user terminal (161, 162, 163) incommunicative connection with the control unit (120) through a network(150) and a communication interface (140); receiving, via thecommunication interface (140), a control request (CR1) from a firstremote user terminal (161), the control request (CR1) indicating anintention to initiate transmission of control commands and/or parametersettings (CMD1) from the first remote user terminal (161) forcontrolling the automatic milking machine (110); and responsive to areception of the control request (CR1), checking if at least one controlcommand and/or parameter setting (CMD2) from a second remote userterminal (162) has been received in the communication interface (140)within a particular interval (P) preceding a point in time (t₃) when thecontrol request (CR1) was received, and if so, sending, via thecommunication interface (140), status data (SD2) to the first remoteuser terminal (161), where said status data (SD2) indicate an identity(ID) of the second remote user terminal (162).
 9. The method accordingto claim 8, wherein the status data (SD2) further indicate at least oneaction (A2) performed by the automatic milking machine (110) in responseto said at least one control command and/or parameter setting (CMD2)from the second remote user terminal (162).
 10. The method according toclaim 8, further comprising: generating said status data (SD2) if andonly if the at least one control command and/or parameter setting (CMD2)from the second remote user terminal (162) was received in thecommunication interface (140) within the particular interval (P). 11.The method according to claim 8, further comprising: if no controlcommand or parameter setting (CMD) has been received in thecommunication interface (140) from any other remote user terminal (162,163) within the particular interval (P), and if no action is currentlybeing performed by the automatic milking machine (110) in response toany control commands or parameter settings (CMD) from any other remoteuser terminal (162, 163), sending, via the communication interface(140), readiness status data (SD) to the first remote user terminal(161), where the readiness status data (SD) indicate that the automaticmilking machine (110) is ready to receive control commands and/orparameter settings (CMD1) in a conflict-free manner.
 12. The method(100) according to claim 8, further comprising: after the reception ofthe control request (CR1) from the first remote user terminal (161),checking if at least one control command and/or parameter setting (CMD1)is received from the first remote user terminal (161), and if so,controlling (Ctrl) the automatic milking machine (110) to operate inresponse to the at least one control command and/or parameter setting(CMD1) from the first remote user terminal (161).
 13. The methodaccording to claim 8, wherein the control unit handles the at least onecontrol command and/or parameter setting (CMD1) from the first remoteuser terminal (161) with precedence over any previously received controlcommands and/or parameter settings (CMD2) such that: any yet uncompletedaction (A2′) being performed by the automatic milking machine (110) inresponse to the previously received control commands and/or parametersettings (CMD2) is aborted in response to receiving the at least onecontrol command and/or parameter setting (CMD1), and the automaticmilking machine (110) instead is controlled (Ctrl) to operate inresponse to the at least one control command and/or parameter setting(CMD1) from the first remote user terminal (161).
 14. A non-transitorydata storage medium having a computer program (125) stored thereon, thecomputer program executable by a processing unit (127) and the computerprogram (125) comprising software that, upon execution by the processingunit (127), causes the processing unit (127) to execute the methodaccording to claim
 8. 15. (canceled)
 16. The system (100) according toclaim 3, wherein the control unit (120) is further configured such thatif: no control command or parameter setting (CMD) has been received inthe communication interface (140) from any other remote user terminal(162, 163) within the particular interval (P), and no action iscurrently being performed by the automatic milking machine (110) inresponse to any control commands or parameter settings (CMD) from anyother remote user terminal (162, 163), the control unit (120) sends, viathe communication interface (140), readiness status data (SD) to thefirst remote user terminal (161), where the readiness status data (SD)indicate that the automatic milking machine (110) is ready to receivecontrol commands and/or parameter settings (CMD1) in a conflict-freemanner.
 17. The system (100) according to claim 16, wherein the controlunit (120) is further configured to, after having received the controlrequest (CR1) from the first remote user terminal (161), check if atleast one control command and/or parameter setting (CMD1) is receivedfrom the first remote user terminal (161), and if so, control (Ctrl) theautomatic milking machine (110) to operate in response to the at leastone control command and/or parameter setting (CMD1) from the firstremote user terminal (161).
 18. The system (100) according to claim 17,wherein the control unit (120) is further configured to handle the atleast one control command and/or parameter setting (CMD1) from the firstremote user terminal (161) with precedence over any previously receivedcontrol commands and/or parameter settings (CMD2) such that: any yetuncompleted action (A2′) being performed by the automatic milkingmachine (110) in response to the previously received control commandsand/or parameter settings (CMD2) is aborted in response to receiving theat least one control command and/or parameter setting (CMD1), and thecontrol unit (120) controls (Ctrl) the automatic milking machine (110)to instead operate in response to the at least one control commandand/or parameter setting (CMD) from the first remote user terminal(161).
 19. The method according to claim 11, further comprising: if nocontrol command or parameter setting (CMD) has been received in thecommunication interface (140) from any other remote user terminal (162,163) within the particular interval (P), and if no action is currentlybeing performed by the automatic milking machine (110) in response toany control commands or parameter settings (CMD) from any other remoteuser terminal (162, 163), sending, via the communication interface(140), readiness status data (SD) to the first remote user terminal(161), where the readiness status data (SD) indicate that the automaticmilking machine (110) is ready to receive control commands and/orparameter settings (CMD1) in a conflict-free manner.
 20. The method(100) according to claim 19, further comprising: after the reception ofthe control request (CR1) from the first remote user terminal (161),checking if at least one control command and/or parameter setting (CMD1)is received from the first remote user terminal (161), and if so,controlling (Ctrl) the automatic milking machine (110) to operate inresponse to the at least one control command and/or parameter setting(CMD1) from the first remote user terminal (161).
 21. The methodaccording to claim 20, wherein the control unit handles the at least onecontrol command and/or parameter setting (CMD1) from the first remoteuser terminal (161) with precedence over any previously received controlcommands and/or parameter settings (CMD2) such that: any yet uncompletedaction (A2′) being performed by the automatic milking machine (110) inresponse to the previously received control commands and/or parametersettings (CMD2) is aborted in response to receiving the at least onecontrol command and/or parameter setting (CMD1), and the automaticmilking machine (110) instead is controlled (Ctrl) to operate inresponse to the at least one control command and/or parameter setting(CMD1) from the first remote user terminal (161).